Model Predictive Control on a differential drive robot: Simulation and Analysis

This video demonstrates my implementation of model predictive control on a differential drive robot for position and trajectory tracking using single shooting and multi shooting method. The control logic is modelled using the Casadi library and the optimization problem is solved using the Iterative Point Optimization (IPOPT) method. In the end, I analyze the advantages and disadvantages of MPC over other feedback based control methods.
References:
1. sites.google.c...

[@qiangli1578]

Thank your great simulation and analysis. if I want to comprend the lecture well, which paper or article is needed to learn in further? Hopefully you an give a recommendation.

[@qiangli1578]

Could you provide the function code of shift in Columon 125?
[t0, x0, u0] = shift(T, t0, x0, u,f); % get the initialization of the next optimization step.
Thank you very much.